{"id":"https://openalex.org/W4207003546","doi":"https://doi.org/10.3390/sym14020208","title":"A Motion Planning Method for Automated Vehicles in Dynamic Traffic Scenarios","display_name":"A Motion Planning Method for Automated Vehicles in Dynamic Traffic Scenarios","publication_year":2022,"publication_date":"2022-01-21","ids":{"openalex":"https://openalex.org/W4207003546","doi":"https://doi.org/10.3390/sym14020208"},"language":"en","primary_location":{"id":"doi:10.3390/sym14020208","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14020208","pdf_url":"https://www.mdpi.com/2073-8994/14/2/208/pdf?version=1642757321","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/14/2/208/pdf?version=1642757321","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011831009","display_name":"Bo Peng","orcid":"https://orcid.org/0000-0002-4699-8836"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Peng","raw_affiliation_strings":["School of Transportation, Jilin University, Changchun 130022, China"],"raw_orcid":"https://orcid.org/0000-0002-4699-8836","affiliations":[{"raw_affiliation_string":"School of Transportation, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471180","display_name":"Dexin Yu","orcid":"https://orcid.org/0000-0003-4597-4629"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dexin Yu","raw_affiliation_strings":["School of Transportation, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047405375","display_name":"Huxing Zhou","orcid":"https://orcid.org/0000-0002-5979-3741"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huxing Zhou","raw_affiliation_strings":["School of Transportation, Jilin University, Changchun 130022, China"],"raw_orcid":"https://orcid.org/0000-0002-5979-3741","affiliations":[{"raw_affiliation_string":"School of Transportation, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054587013","display_name":"Xue Xiao","orcid":"https://orcid.org/0000-0001-7243-6346"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xue Xiao","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering in the Ministry of Education, Tongji University, Shanghai 201804, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering in the Ministry of Education, Tongji University, Shanghai 201804, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017764278","display_name":"Chen Xie","orcid":"https://orcid.org/0000-0001-9765-1763"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Xie","raw_affiliation_strings":["School of Transportation, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5047405375"],"corresponding_institution_ids":["https://openalex.org/I194450716"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2227},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2227},"fwci":1.5387,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82889126,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"14","issue":"2","first_page":"208","last_page":"208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7546736598014832},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7209116220474243},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.579423189163208},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.552553117275238},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5352289080619812},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5260583758354187},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4846780598163605},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4482661187648773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42534321546554565},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4211358428001404},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4149187505245209},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.4117441177368164},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3597913086414337},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34285253286361694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3305908441543579},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1932433843612671},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.14738813042640686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13263100385665894}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7546736598014832},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7209116220474243},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.579423189163208},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.552553117275238},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5352289080619812},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5260583758354187},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4846780598163605},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4482661187648773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42534321546554565},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4211358428001404},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4149187505245209},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.4117441177368164},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3597913086414337},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34285253286361694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3305908441543579},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1932433843612671},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.14738813042640686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13263100385665894},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/sym14020208","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14020208","pdf_url":"https://www.mdpi.com/2073-8994/14/2/208/pdf?version=1642757321","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e5b3cba6970744059f9108474e109dfe","is_oa":true,"landing_page_url":"https://doaj.org/article/e5b3cba6970744059f9108474e109dfe","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry, Vol 14, Iss 2, p 208 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2073-8994/14/2/208/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/sym14020208","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/sym14020208","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14020208","pdf_url":"https://www.mdpi.com/2073-8994/14/2/208/pdf?version=1642757321","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4207003546.pdf","grobid_xml":"https://content.openalex.org/works/W4207003546.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1983948265","https://openalex.org/W1996183429","https://openalex.org/W2003708116","https://openalex.org/W2005354226","https://openalex.org/W2071401582","https://openalex.org/W2103120971","https://openalex.org/W2107338474","https://openalex.org/W2136445059","https://openalex.org/W2148361676","https://openalex.org/W2165216595","https://openalex.org/W2169528473","https://openalex.org/W2192586580","https://openalex.org/W2235820137","https://openalex.org/W2306644740","https://openalex.org/W2740957115","https://openalex.org/W2744745135","https://openalex.org/W2758107681","https://openalex.org/W2767029132","https://openalex.org/W2888739182","https://openalex.org/W2921572472","https://openalex.org/W2946231253","https://openalex.org/W2964170993","https://openalex.org/W2980483809","https://openalex.org/W2995649812","https://openalex.org/W3022245855","https://openalex.org/W3085616170","https://openalex.org/W3112338384","https://openalex.org/W3155065619","https://openalex.org/W3201755685","https://openalex.org/W3204174732","https://openalex.org/W3206987089","https://openalex.org/W4293682399"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2546046681","https://openalex.org/W1965569281","https://openalex.org/W2327128825","https://openalex.org/W2394276631","https://openalex.org/W3216096898","https://openalex.org/W2363850205"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,37,44,59,80],"motion":[3,24,157,177],"planning":[4,178],"method":[5,20,42,150,167,179],"for":[6,26,128,159],"automated":[7],"vehicles":[8],"(AVs)":[9],"to":[10,22,122],"complete":[11],"driving":[12,39,137],"tasks":[13],"in":[14,58,70,133,161,172],"dynamic":[15,33,162],"traffic":[16],"scenes.":[17],"The":[18,41],"proposed":[19,149],"aims":[21],"generate":[23,153],"trajectories":[25,55,97,158],"an":[27],"AV":[28],"after":[29,98],"obtaining":[30],"the":[31,49,71,76,87,92,107,116,124,129,148,166,175,183,188,191],"surrounding":[32],"information":[34],"and":[35,52,68,74,143,155,186],"making":[36],"preliminary":[38],"decision.":[40],"generates":[43,53],"reference":[45,108],"line":[46],"by":[47,79],"interpolating":[48],"original":[50],"waypoints":[51],"optional":[54,90,96],"with":[56,165],"costs":[57],"prediction":[60],"interval":[61],"containing":[62],"three":[63,134],"dimensions":[64],"(lateral":[65],"distance,":[66],"time,":[67,185],"velocity)":[69],"Frenet":[72],"frame,":[73],"filters":[75],"optimal":[77,130],"trajectory":[78],"series":[81],"of":[82,89,94,126,168,182,190],"threshold":[83],"checks.":[84],"When":[85],"calculating":[86],"feasibility":[88],"trajectories,":[91],"cost":[93],"all":[95],"removing":[99],"obstacle":[100],"interference":[101],"shows":[102],"obvious":[103],"axisymmetric":[104],"regularity":[105],"concerning":[106],"line.":[109],"Based":[110],"on":[111],"this":[112],"regularity,":[113],"we":[114],"apply":[115],"constrained":[117],"Simulated":[118],"Annealing":[119],"Algorithm":[120],"(SAA)":[121],"improve":[123],"process":[125],"searching":[127],"trajectories.":[131],"Experiments":[132],"different":[135],"simulated":[136],"scenarios":[138],"(speed":[139],"maintaining,":[140],"lane":[141],"changing,":[142],"car":[144],"following)":[145],"show":[146],"that":[147],"can":[151],"efficiently":[152],"safe":[154],"comfortable":[156],"AVs":[160],"environments.":[163],"Compared":[164],"traversing":[169],"sampling":[170,193],"points":[171],"discrete":[173],"space,":[174],"improved":[176],"saves":[180],"70.23%":[181],"computation":[184],"overcomes":[187],"limitation":[189],"spatial":[192],"interval.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}